Budiharto, Widodo, Ari Santoso, Djoko Purwanto, and Achmad Jazidie. 2013. “A New Obstacle Avoidance Method for Service Robots in Indoor Environments”. Journal of Engineering and Technological Sciences 44 (2):149-68. https://doi.org/10.5614/itbj.eng.sci.2012.44.2.4.